摘要
通过分析柔性机械手运动参数对其性能的影响,得出采用合理的运动轨迹可以获得良好的动力性能的结论。从全局优化角度出发,通过引入惩罚项来实现柔性机械手的多目标全局优化,并采用基于Pontryagin最大值原理的间接算法实现优化求解。通过虚拟样机验证优化结果的有效性和正确性。
The issue that good performance can be achieved through optimizing the motion track of flexible manipulator was obtained by analyzing the influence of the motion of flexible manipulator on its dynamic performance. The global optimization of multi-objective function was resolved by introducing the penalty teams. At the same time, a suitable indirect optimization formulation based on Pontryagin maximum principle was selected to achieve optimal solution. The optimization results were applied to the virtual prototype to validate the effectiveness and the correctness of the optimization scheme.
出处
《机床与液压》
北大核心
2012年第3期73-76,共4页
Machine Tool & Hydraulics
关键词
柔性机械手
全局优化
虚拟样机
Flexible manipulator
Global optimization
Virtual prototype
